Automated Gait Generation for Walking, Soft Robotic Quadrupeds. - Jake Ketchum; Sophia Schiffer; Muchen Sun; Pranav Kaarthik; Ryan L. Truby; Todd D. Murphey (IROS, 2023)

Active Exploration for Real-Time Haptic Training. - Jake Ketchum; Ahalya Prabhakar; Todd D. Murphey (ICRA, 2024)

Force and Speed in a Soft Stewart Platform. - Jake Ketchum; James Avtges; Millicent Schlafly; Helena Young; Taekyoung Kim; Ryan L. Truby; Todd D. Murphey (RoboSoft, 2025)